CN1413809A - Control method for building environmental protection robot and robot using the method - Google Patents
Control method for building environmental protection robot and robot using the method Download PDFInfo
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- CN1413809A CN1413809A CN 01136768 CN01136768A CN1413809A CN 1413809 A CN1413809 A CN 1413809A CN 01136768 CN01136768 CN 01136768 CN 01136768 A CN01136768 A CN 01136768A CN 1413809 A CN1413809 A CN 1413809A
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Abstract
A cleaning robot for high bailding is composed of the main body, cleaning unit, control system and safety mechanism, and features that the flexible water-sealing mechanism, drive regulating system, steering regulation and compensation driving system, cleaning unit and control system are combined to reliably stay-on the wall surface and cleaning plane, curved surface, arc surface of curtain wall or ceramic tile wall. Its advantages are high cleaning effect, high recovery rate of water and continuous cleaning.
Description
Technical field
What the present invention relates to is a kind of building environmental protection cleaning robot control method, and the robot that adopts described method.
Background technology
Beijing space flight and aviation university discloses the building cleaning robot of a kind of " the clean scholar in blue sky " by name, and this robot has adopted the suction type of multi-sucker, can cross over certain obstacle, but can not carry out continuous wash in alternately moving.
CN97121896 discloses a kind of " climbing robot ", described robot comprises that screw or ducted fan, power, travel mechanism, control box etc. partly constitute, screw or ducted fan produce the thrust of pointing to wall under power drive, make robot be affixed on wall, travel mechanism is under the manipulation of control box, driven machine people creeps and thinks that this climbing robot can be used for the operation of various pile wall at wall, but the not open wiper mechanism that how not cooperate of the document.
Researcher of the present invention finds, similar machine people above-mentioned and of the prior art exists that pipeline is more, climbing ability is poor, to the adaptability of building with cleaning efficiency is low, cleaning performance is poor, and can not continuous, multi-faceted cleaning and defective such as path planning inaccurate coordination.
Summary of the invention
Main purpose of the present invention is to provide a kind of building environmental protection cleaning robot, thereby has overcome building cleaning robot above shortcomings in the prior art.
Purpose of the present invention can be achieved in the following manner, and cleaning robot of the present invention comprises robot body, purging system, security system and control system four parts composition.
Wherein, robot body is made up of negative-pressure adsorption (blower fan), screw and mobile three parts: adsorption system can produce certain absorption affinity by the rotation of blower fan in sealing ring, and vacuum can realize dynamic adjustments by safety valve; Screw can produce certain thrust, gives normal pressure of robot before robot absorption, makes described robot be adsorbed on the wall quickly; Running gear control robot moves freely on wall, and can regulate the speed of travel and the moving direction of robot in real time, negative-pressure adsorption (blower fan), both active force actings in conjunction in conjunction with producing of screw can replenish the absorption affinity of robot when leaping over obstacles, prevent that the phenomenon of skidding or falling down from appearring in robot, is adsorbed on the work wall robot security reliably.The running gear of robot of the present invention is made of two cover AC servo motors and decelerator wheels and the driven pulley (band synchronous driving motor and electromagnetic clutch) that has a guiding mechanism, can adapt to the rapid of the underloading of wall and washing and cleaning operation.
Purging system, be the concrete executing agency that robot carries out the building washing and cleaning operation, by nozzle, disc brush, receive, blow that hydrosphere, waste water reclaim machine, clean water tank, check valve, motor (unidirectional 220v), stepper motor, decelerator, driver, band, belt wheel, suction, drainpipe, liquid level sensor, atmosphere/negative pressure converter and position transducer are formed synchronously.This device at first forms normal pressure with Vacuum converters in water tank, the mixture of water and washing agent is transported to the negative pressure sparge pipe, be sprayed onto by nozzle on the cleaning brush of rotation at a high speed, the pressure conversion of cleaning water tank realizes by the negative pressure converter, under the effect of cleaning brush, be dispersed on the wall uniformly, cleaning brush is at motor, synchronously under the effect of band and belt wheel, can realize that by driver speed regulates continuously, can adapt to different walls, and the dirt on the wall removed, reclaim at waste water under the effect of machine, can in time reclaim the sewage that accumulates in the sealing ring, and be discharged to the cleaning water tank through filtering, realize that Wastewater Recovery utilizes again.Through scraping hydrosphere with the wall scraping, cleaning performance is good, efficient is higher at last.
Control system, the task of control system is to finish absorption, mobile control and the washing and cleaning operation control of building cleaning robot on wall by remote-control box or computer operation, mainly comprise remote controller or microcomputer, controller and safety device three parts, adopt the mode of the wire communication of power line carrier, by real-time processing to sensor feedback signal, wheel is carried out coarse adjustment and fine setting, can realize path planning, identification and the coordination function of robot on wall.
Security system, can or meet accident in the unexpected power down of robot plays a protective role when wall comes off, and can carry the weight of cable, make robot on wall during operation theoretical duty be constant, improved the height of robot work.It mainly comprises the fixedly steel wire rope of fishhook, hoist engine and hiding holding wire of the single sucking disc dolly, guide rail, mechanical sucker, is furnished with mechanical sucker track in case of necessity.In order to adapt to different roof situations, the mode that has adopted the single sucking disc dolly and mechanical sucker track to combine, utilize the gravity can be from the angle of main regulation steel wire rope and hoist engine cylinder, reduce the friction between steel wire rope and the pulley, can select the receiving/releasing by remote-control box or microcomputer control steel wire rope by the ground staff, or it is responsible by the staff of roof, steel wire rope will bear a part of weight of robot body in cleaning process, automatically regulate by tension pick-up, realize the coordination control between release mechanism and the robot body.
Description of drawings
Accompanying drawing 1 is the schematic perspective view of building environmental protection cleaning robot of the present invention;
Accompanying drawing 2 is upward views of building environmental protection cleaning robot of the present invention, can be clear that the structure and the connected mode of transmission and cleaning part;
Accompanying drawing 3 is the working method schematic diagram of cleaning process of building environmental protection cleaning robot of the present invention and the schematic diagram of associated components;
Accompanying drawing 4 is the sealing of building environmental protection cleaning robot of the present invention, the cutaway view of cleaning part.
Specific embodiments
When robot of the present invention starts working, at first drive screw 12 and produce certain normal pressure by high-speed rotary motor 11, robot body is pulled on the wall, be adsorbed on the wall by sucker (forming) by negative pressure cavity 14 and sealing ring, negative pressure forms by blower fan 13 and absorption fan for water 9, when negative pressure is not enough, screw will play the effect of compensation negative pressure.
Robot of the present invention is when cleaning, and referring to accompanying drawing 1,2,4, asynchronous machine 10 is by synchronous pulley 40 and be with 39 to act on the disc brush 38 synchronously, and four disc brush are divided into opposite two groups of direction of rotation, can play the equilibrium of forces effect like this.
The supply of robot rinse water is that the conversion by position and gas circuit realizes that switching mechanism acts on by decelerator 33 on Moving plate 23 and the quiet dish 25 at stepper motor 32, and its effect is the conversion that realizes between negative pressure and the atmosphere.
Referring to accompanying drawing 3, in order to realize that robot omnibearing cleans, position switching mechanism acts on Moving plate 29 and the quiet dish 30 by decelerator and gear 31 at stepper motor 8, realization is to the conversion of the gentle valve position of the water valve of water tank 28 and 18 along with the direction of motion, rinse water in the water tank is to be forced in the sucker by pressure reduction, and then be sprayed onto on the brush body, the recovery of rinse water is to realize the water in the sucker is recovered in the water tank by absorption fan for water 9 and the suction nozzle that is connected import.
Disclosed sealing means comprises in the prior art: three kinds of mechanical seal, rubber seal and flexible sealings.
Robot of the present invention adopts flexible sealing air bag 18, and (outside is protected with the little material 19 of coefficient of friction; referring to accompanying drawing 4) and the novel seal mode that combines of liquid (water) sealing; produce negative pressure by blower fan 13; utilize the flowability of liquid can well compensate the deficiency of flexible sealing; in the motion process of robot; contact portion at flexible seal ring and wall; can form water membrane; this layer moisture film plays the effect of sealing on the one hand, plays effect lubricated, that reduce to rub on the other hand.Because the gas temperature influence is relatively more responsive, and liquid and insensitive, like this because the water in the flexible waterstop ring of negative pressure can suppress the susceptibility of gas, that is to say that gas is subjected to the Temperature Influence can be very little, control and regulate the pressure of air in the air bag again by safety valve, can guarantee that like this sucker and glass or ceramic tile have excellent adaptability, the high-abrasive material very little coefficient of friction wraps on the air bag cleverly, and be easily dismounting being connected of housing 14, air bag and housing couple together and just constituted the flexible water-stop of negative pressure mechanism.
Install in flexible water-stop mechanism that two groups of directions of motion are opposite, the disc brush of symmetry, adjustable-speed, referring to accompanying drawing 4, utilize a motor 10 by gear 40 commutation be with 39 can realize that four disc brush are synchronized with the movement synchronously, solved the stressed unbalanced problem of whole disc brush, the combination of this kind brush body and disc brush has realized zero moment between sucker and the brush, and do not exist to leak yet and wash phenomenon, the combination of the flexible water-stop of disc brush and negative pressure mechanism like this, just constituted negative flexible water-stop purging system, referring to accompanying drawing 4.
No water supplying pump/sewage recovering system, referring to accompanying drawing 3, dotted line 22 expressions are gas circuits in the accompanying drawing 3, and what solid line 21 was represented is the water route, and its concrete operation principle is as follows:
When the atmosphere of robot/negative pressure conversion equipment is among the figure (3.4) state shown in (a), because the angle in adjacent two holes with quiet dish of angle that two holes of Moving plate form equates, two atmosphere negative pressure mouths of Moving plate 29 are by quiet dish 30 sealings, therefore the pressure conversion is in halted state, when Moving plate 29 is rotated counterclockwise certain angle, the atmosphere of the correspondence position of Moving plate 29 and quiet dish 30 and negative pressure hole are connected, quiet dish 29 interstitial holes meet negative pressure flexible sealing system 43, the two lateral opening atmosphere that connect, this moment, water tank was an atmospheric pressure for 28 li, and water tank is a negative pressure for 18 li, water in the water tank is under the effect of pressure reduction, be discharged to 42 li of sparge pipes in the sucker by position switching mechanism, and absorption fan for water 9 is discharged to 18 li in water tank by the water that suction nozzle 46 and negative-pressure air fan carry out trace by unidirectional aqueous vapor seperating vale 24, the liquid level of two water tanks is controlled by liquid-level switch, when blower fan is full one of them water tank row, controller receives the liquid-level switch feedback signal, and then the control step motor rotates a certain angle, realize the conversion of atmosphere/negative pressure, in the robot course of work, atmosphere/negative pressure switching mechanism is in the alternately state of conversion, like this, circulation and the recovery of the rinse water of robot under ruuning situation have up and down just been finished, by stepper motor with near the effect of switch, just realized the circulation and the recovery of the rinse water of robot when carrying out side-to-side movement so just having realized the robot omnibearing cleaning by the positive and negative rotation of stepper motor.
Three holes, quiet dish 25 the tops are the conversion holes, position between absorption fan for water and the suction nozzle, be evenly distributed in 12 holes on the circumference, three holes and quiet dish 25 nethermost three holes are conversion holes, water route of water tank and sucker and sucker and suction nozzle above it, evenly following three holes on the distribution circumference are conversion holes, water route between blower fan and the water tank 6 (being made up of water tank 28 and 18 two), about three holes be respectively water tank 28 and 18 pressure conversion hole, the 27th, the shuttle valve between the water tank, be used for isolating two water in the water tank, the 26th, check valve, be used for isolating the water between water tank and the absorption fan for water, the 24th, unidirectional aqueous vapor seperating vale prevents that the negative pressure in the sucker from leaking.
Atmosphere of the present invention/negative pressure switching mechanism comprises by Moving plate 29, quiet dish 30, stepper motor 8, forms near switch, gear 31 and decelerator.Under the effect of stepper motor 8, by starting position, by the positive and negative conversion that transfers between realization atmosphere and the negative pressure of stepper motor, referring to accompanying drawing 3.3 near switch control motor.
Water route of the present invention (gas circuit) position switching mechanism comprises by Moving plate 23, quiet dish 25, stepper motor 32, forms near switch and decelerator, under the effect of stepper motor 32, by starting position near switch control motor, positive and negative transferring by stepper motor realized the position conversion, referring to 3.1.
Unidirectional aqueous vapor seperating vale of the present invention comprises inlet opening 34, apopore 35, ball float 24, steam vent 36 and ball float seat 37 compositions, utilizes the buoyancy of liquid principle to realize the aqueous vapor separation.The water that negative-pressure air fan 13 is released (gas is contained in the inside) enters in the water check valve by air admission hole 34, buoyancy of water is smaller during beginning, because apopore and negative pressure pipe communicate, at this moment ball float is attracted on the ball float seat, plays the effect of sealing, and at this moment the gas in the water check valve is discharged by steam vent 36, when buoyancy of water during greater than negative-pressure adsorption power, ball float floats, and at this moment water just is discharged to the negative pressure pipe and flows to water tank, referring to accompanying drawing 3.2.
The cleaning robot of realizing according to mode of the present invention and structure can reach following specification requirement and index:
(1), two-wheeled/four-wheel drive, the mode of four-wheel walking;
(2), creep speed 4-20m/min;
(3), creep more than the height 100m;
(4), can carry out the above glass curtain wall of 5mm or the washing and cleaning operation of ceramic tile;
Can cross over groove and 2cm when (5), mobile with interior projection;
(6), about 800 * 660 * 300mm of the overall dimensions of described robot;
(7), cleaning efficiency can reach 300-480 square metre/per hour
Robot of the present invention has structure uniqueness, advantage that the integrated degree of technology is high, has really realized at machine Device people's surperficial wireless design has broken through the difficult problem that the single sucking disc can not be crossed over barrier, and still can when obstacle detouring Realization waste water reclaims.
The unique texture of the cleaning brush that the present invention proposes has solved the difficult problem of circular brush body off-centre, and the sealing ring that the present invention proposes and the special connected mode of robot body, solved a difficult problem of using the sealing material wear-resisting, that the friction coefficient is little
Waste water way of recycling among the present invention has broken through the pattern of tradition with blowback receipts water, can be good at realizing waste water Recycling, and regulate in real time for the water yield according to the roughness of wall.
Robot of the present invention has adopted the electronic calibration of driving wheel and the Double regulating of driven pulley/driving wheel correction Save, can be good at realizing the path planning of robot, avoid occurring in the process of walking horizontal displacement.
The interchangeability of cleaning brush configuration of the present invention can adapt to different walls with the controllability of speed, brush The ingenious layout of body position, the uniformity that has guaranteed to clean wall has been eliminated the impact to the horizontal displacement of body.
In a word, cleaning robot for building environment protection of the present invention has and cleans that effect is good, the waste water rate of recovery is high Characteristics have realized dynamically correcting, not having horizontal displacement and up and down four direction cleaning simultaneously in crawling process, No-idle running, robot of the present invention can clean ceramic tile, and cambered surface, concave surface and building are given prominence to the lower of part The continuity of cleaning has been realized in the place of the artificial bad cleaning such as face, improve cleaning efficiency, realized the single sucking disc and The interosculating and replenishing of screw.
Summarize as the advantage to described robot of the present invention, be specially:
(1) little, in light weight, the safety of volume, motion are flexible, and climbing ability is strong;
(2) under the prerequisite that guarantees cleaning performance, improve cleaning speed greatly, reached as high as 20m/min;
(3) can realize that four direction cleans, and improves cleaning efficiency;
(4) can clean the place that manually can't clean, drive with autonomous locomotor activity strong;
(5) well realize the waste water recovery, helped environmental protection and using water wisely;
(6) real realization one line system, what be connected with robot body has only steel cable, has eliminated the factor that is unfavorable for robot ambulation, has reduced labour cost;
(7) can realize that the single sucking disc steadily crosses over the obstacle of groove and 2cm, and multi-sucker is dynamically realizing continuous adsorption improving cleaning efficiency down;
(8) small-sized, the lightweight of release mechanism have autonomous adjustment function, and steel wire rope is played a protective role, and have replaced using than the mode of heavy load as counterweight by special structural design, are easy to carrying, dismounting, can adapt to difform roof.
Claims (9)
1, a kind of building environmental protection cleaning robot control method is characterized in that described method comprises:
(1) robot body is made up of negative-pressure adsorption (blower fan), screw and running gear three parts, and described adsorption system produces certain absorption affinity by the rotation of blower fan in sealing ring, can realize dynamic adjustments vacuum by safety valve; Screw can produce certain thrust, gives normal pressure of robot before robot absorption, makes described robot be adsorbed on the wall quickly; Running gear control robot moves freely on wall, and can regulate the speed of travel and the moving direction of robot in real time;
(2) purging system, by nozzle, disc brush, receive, scrape hydrosphere, waste water reclaims machine, clean water tank, check valve, motor, stepper motor, decelerator, driver, be with synchronously, belt wheel, inhale, drainpipe, liquid level sensor, atmosphere/negative pressure converter and position transducer are formed, this device at first forms normal pressure with Vacuum converters in water tank, the mixture of water and washing agent is transported to the negative pressure sparge pipe, be sprayed onto by nozzle on the cleaning brush of rotation at a high speed, the pressure conversion of cleaning water tank realizes by the negative pressure converter, under the effect of cleaning brush, be dispersed on the wall uniformly, cleaning brush is at motor, synchronously under the effect of band and belt wheel, can realize that by driver speed regulates continuously, reclaim the sewage recovery in time and the process filtration that will accumulate in the sealing ring under the effect of machine at waste water and be discharged to the cleaning water tank, at last through scraping hydrosphere the wall scraping;
(3) control system, mainly comprise remote controller or microcomputer, controller and safety device three parts, adopt the mode of the wire communication of power line carrier, by real-time processing to sensor feedback signal, wheel is carried out coarse adjustment and fine setting, can realize path planning, identification and the coordination function of robot on wall.
(4) security system, mainly comprise the fixedly steel wire rope of fishhook, hoist engine and hiding holding wire of the single sucking disc dolly, guide rail, mechanical sucker, utilize the gravity can be from the angle of main regulation steel wire rope and hoist engine cylinder, reduce the friction between steel wire rope and the pulley, steel wire rope will bear a part of weight of robot body in cleaning process, automatically regulate by tension pick-up, realize the coordination control between release mechanism and the robot body.
2, a kind of building environmental protection cleaning robot control method, it is characterized in that described robot at first drives screw 12 by high-speed rotary motor 11 and produces certain normal pressure, robot body is pulled on the wall, be adsorbed on the wall by the sucker of being made up of negative pressure cavity 14 and sealing ring, AC servo motor 15 is by decelerator 16 wheels, 17 driven machine human bodies and under the effect of obliquity sensor robot body is finely tuned rectification; Synchronous motor 3 is by the cooperation wheels 1 of clutch 2, robot body is played compensation to be driven, stepper motor 5 acts on by decelerator, tie rod linkage 4 and realizes turning to coarse adjustment on the wheel 1 correcting, angular displacement sensor 7 is fixed on the tie rod linkage 4 by shaft coupling, and then the anglec of rotation of control step motor 5, the cooperation of angular displacement sensor 7 and electric slope angle sensor realizes the path planning to robot like this; Asynchronous machine 10 is by synchronous pulley 40 and be with 39 to act on the disc brush 38 synchronously, and four disc brush are divided into opposite two groups of direction of rotation; Switching mechanism acts on the conversion that realizes on Moving plate 23 and the quiet dish 25 between negative pressure and the atmosphere by decelerator 33 at stepper motor 32; Position switching mechanism acts on Moving plate 29 and the quiet dish 30 by decelerator and gear 31 at stepper motor 8, realization is to the conversion of the gentle valve position of the water valve of water tank 28 and 18 along with the direction of motion, rinse water in the water tank is to be forced in the sucker by pressure reduction, and then be sprayed onto on the brush body, the recovery of rinse water is to realize the water in the sucker is recovered in the water tank by absorption fan for water 9 and the suction nozzle that is connected import; The sealing means that adopts the sealing of flexible sealing air bag 18 and liquid to combine forms
3, method according to claim 2 is characterized in that:
(1) angle in adjacent two holes with quiet dish of angle of two holes formation of the Moving plate of the atmosphere of described robot/negative pressure conversion equipment equates, two atmosphere negative pressure mouths of Moving plate 29 are by quiet dish 30 sealings, therefore the pressure conversion is in halted state, when Moving plate 29 is rotated counterclockwise certain angle, the atmosphere of the correspondence position of Moving plate 29 and quiet dish 30 and negative pressure hole are connected, quiet dish 29 interstitial holes meet negative pressure flexible sealing system 43, the two lateral opening atmosphere that connect, this moment, water tank was an atmospheric pressure for 28 li, and water tank is a negative pressure for 18 li, water in the water tank is under the effect of pressure reduction, be discharged to 42 li of sparge pipes in the sucker by position switching mechanism, and absorption fan for water 9 is discharged to 18 li in water tank by the water that suction nozzle 46 and negative-pressure air fan carry out trace by unidirectional aqueous vapor seperating vale 24, the liquid level of two water tanks is controlled by liquid-level switch, when blower fan is full one of them water tank row, controller receives the liquid-level switch feedback signal, and then the control step motor rotates a certain angle, realize the conversion of atmosphere/negative pressure, in the robot course of work, atmosphere/negative pressure switching mechanism is in the alternately state of conversion, like this, circulation and the recovery of the rinse water of robot under ruuning situation have up and down just been finished, by stepper motor with near the effect of switch, just realized the circulation and the recovery of the rinse water of robot when carrying out side-to-side movement so just having realized the robot omnibearing cleaning by the positive and negative rotation of stepper motor;
(2), three holes, described quiet dish 25 the tops are the conversion holes, position between absorption fan for water and the suction nozzle, be evenly distributed in 12 holes on the circumference, above three holes and quiet dish 25 nethermost three holes are conversion holes, water route of water tank and sucker and sucker and suction nozzle, evenly following three holes on the distribution circumference are conversion holes in water route between blower fan and the water tank 6, about three holes be respectively water tank 28 and 18 pressure conversion hole, the 27th, the shuttle valve between the water tank, be used for isolating two water in the water tank, the 26th, check valve, be used for isolating the water between water tank and the absorption fan for water, the 24th, unidirectional aqueous vapor seperating vale prevents that the negative pressure in the sucker from leaking.
(3), described atmosphere/negative pressure switching mechanism comprises by Moving plate 29, quiet dish 30, stepper motor 8, forms near switch, gear 31 and decelerator.Under the effect of stepper motor 8, by starting position, by the positive and negative conversion that transfers between realization atmosphere and the negative pressure of stepper motor near switch control motor.
(4), described water route (gas circuit) position switching mechanism comprises by Moving plate 23, quiet dish 25, stepper motor 32, forms near switch and decelerator, under the effect of stepper motor 32, by initial position, realize the position conversion by positive and negative the transferring of stepper motor near switch control motor.
(5), described unidirectional aqueous vapor seperating vale comprises inlet opening 34, apopore 35, ball float 24, steam vent 36 and ball float seat 37 compositions, the water that negative-pressure air fan 13 is released (gas is contained in the inside) enters in the water check valve by air admission hole 34, buoyancy of water is smaller during beginning, because apopore and negative pressure pipe communicate, at this moment ball float is attracted on the ball float seat, play the effect of sealing, at this moment the gas in the water check valve is discharged by steam vent 36, when buoyancy of water during greater than negative-pressure adsorption power, ball float floats, and at this moment water just is discharged to the negative pressure pipe and flows to water tank.
4, the building environmental protection cleaning robot of a kind of suitable claim 1 or 2 described methods is characterized in that described robot comprises:
(1) robot body is made up of negative-pressure adsorption (blower fan), screw and running gear three parts;
(2) purging system is by nozzle, disc brush, receipts/blow hydrosphere, waste water recovery machine, cleaning water tank, check valve, motor, stepper motor, decelerator, driver, synchronous band, belt wheel, suction, drainpipe, liquid level sensor, atmosphere/negative pressure converter and position transducer to form;
(3) control system mainly comprises remote controller or microcomputer, controller and safety device three parts;
(4) security system mainly comprises the steel wire rope of the single sucking disc dolly, guide rail, mechanical sucker, hoist engine and hiding holding wire;
Wherein:
Be provided with one on the housing 14 of described robot by high-speed rotary motor 11 driving screws 12, housing (negative pressure cavity) 14 and sealing ring are formed sucker, and AC servo motor 15 is finely tuned rectification with the driven machine human body and under the effect of obliquity sensor to robot body by decelerator 16 wheels 17; Synchronous motor 3 is by the cooperation wheels 1 of clutch 2, robot body is played compensation to be driven, stepper motor 5 acts on by decelerator, tie rod linkage 4 and realizes turning to coarse adjustment on the wheel 1 correcting, angular displacement sensor 7 is fixed on the tie rod linkage 4 by shaft coupling, and then the anglec of rotation of control step motor 5; Asynchronous machine 10 is by synchronous pulley 40 and be with 39 to act on the disc brush 38 synchronously, and four disc brush are divided into opposite two groups of direction of rotation; Switching mechanism acts on the conversion that realizes on Moving plate 23 and the quiet dish 25 between negative pressure and the atmosphere by decelerator 33 at stepper motor 32; Position switching mechanism acts on Moving plate 29 and the quiet dish 30 by decelerator and gear 31 at stepper motor 8, realizes the conversion of the gentle valve position of the water valve of water tank 28 and 18 along with the direction of motion; Flexible sealing air bag 18 and liquid form sealing.
5, robot according to claim 4, it is characterized in that three holes, described quiet dish 25 the tops are the conversion holes, position between absorption fan for water and the suction nozzle, be evenly distributed in 12 holes on the circumference, above three holes and quiet dish 25 nethermost three holes are conversion holes, water route of water tank and sucker and sucker and suction nozzle, evenly following three holes on the distribution circumference are conversion holes in water route between blower fan and the water tank 6, about three holes be respectively water tank 28 and 18 pressure conversion hole, the 27th, the shuttle valve between the water tank, be used for isolating two water in the water tank, the 26th, check valve, be used for isolating the water between water tank and the absorption fan for water, the 24th, unidirectional aqueous vapor seperating vale.
6, robot according to claim 4 is characterized in that described atmosphere/negative pressure switching mechanism comprises by Moving plate 29, quiet dish 30, stepper motor 8, forms near switch, gear 31 and decelerator.Under the effect of stepper motor 8, by starting position, by the positive and negative conversion that transfers between realization atmosphere and the negative pressure of stepper motor near switch control motor.
7, robot according to claim 4, it is characterized in that water route (gas circuit) position switching mechanism comprises by Moving plate 23, quiet dish 25, stepper motor 32, forms near switch and decelerator, under the effect of stepper motor 32, by initial position, realize the position conversion by positive and negative the transferring of stepper motor near switch control motor.
8, robot according to claim 4, it is characterized in that described unidirectional aqueous vapor seperating vale comprises inlet opening 34, apopore 35, ball float 24, steam vent 36 and ball float seat 37 are formed, the water that negative-pressure air fan 13 is released (gas is contained in the inside) enters in the water check valve by air admission hole 34, buoyancy of water is smaller during beginning, because apopore and negative pressure pipe communicate, at this moment ball float is attracted on the ball float seat, play the effect of sealing, at this moment the gas in the water check valve is discharged by steam vent 36, when buoyancy of water during greater than negative-pressure adsorption power, ball float floats, and at this moment water just is discharged to the negative pressure pipe and flows to water tank.
9,, it is characterized in that adopting simultaneously the single sucking disc dolly and mechanical sucker track according to claim 1 or 2 or 4 described method or robots.
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| CN 01136768 CN1413809A (en) | 2001-10-24 | 2001-10-24 | Control method for building environmental protection robot and robot using the method |
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| CN107226071A (en) * | 2016-03-24 | 2017-10-03 | 福特全球技术公司 | The system and method cleaned for effective automotive vehicle |
| CN107225114A (en) * | 2017-07-11 | 2017-10-03 | 金海重工（舟山）设计研究院有限公司 | Movable type cleaning derusting device |
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| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| CN110029801A (en) * | 2018-01-12 | 2019-07-19 | 中科院微电子研究所昆山分所 | A kind of spray equipment |
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| CN110946511A (en) * | 2018-09-27 | 2020-04-03 | 科沃斯机器人股份有限公司 | Method, apparatus and storage medium for determining slippage |
| EP2910163B1 (en) * | 2012-09-26 | 2020-04-29 | Ecovacs Robotics Co., Ltd. | Glass-wiping robot having air-venting device |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
| CN112155484A (en) * | 2020-08-19 | 2021-01-01 | 江苏澳联科技开发有限公司 | High-rise building outer wall cleaning robot |
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| CN114569022A (en) * | 2022-03-09 | 2022-06-03 | 提文 | High altitude is clean with mansion side wall washing car with function of preventing falling |
-
2001
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